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<p>Test filter functions.  
<a href="#details">More...</a></p>
<div class="textblock"><code>#include &quot;<a class="el" href="../../d9/dc8/spatial_8h_source.html">Dynamics/spatial.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="../../da/d73/_first_order_i_i_r_filter_8h_source.html">Math/FirstOrderIIRFilter.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="../../d4/dfb/orientation__tools_8h_source.html">Math/orientation_tools.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="../../d9/d8e/cpp_types_8h_source.html">cppTypes.h</a>&quot;</code><br />
<code>#include &quot;gmock/gmock.h&quot;</code><br />
<code>#include &quot;gtest/gtest.h&quot;</code><br />
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Functions</h2></td></tr>
<tr class="memitem:a7a0487ef79d0a3679b4af0a2d38ff76f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/d42/test__filters_8cpp.html#a7a0487ef79d0a3679b4af0a2d38ff76f">TEST</a> (Filters, firstOrderIIR)</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Test filter functions. </p>
<p>Test the various filters </p>

<p>Definition in file <a class="el" href="../../d6/d42/test__filters_8cpp_source.html">test_filters.cpp</a>.</p>
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          <td class="memname">TEST </td>
          <td>(</td>
          <td class="paramtype">Filters&#160;</td>
          <td class="paramname">, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">firstOrderIIR&#160;</td>
          <td class="paramname">&#160;</td>
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<p>Test the firstOrderIIR filter with Eigen Vec3's </p>

<p>Definition at line <a class="el" href="../../d6/d42/test__filters_8cpp_source.html#l00020">20</a> of file <a class="el" href="../../d6/d42/test__filters_8cpp_source.html">test_filters.cpp</a>.</p>

<p>References <a class="el" href="../../de/dda/_math_utilities_8h_source.html#l00023">almostEqual()</a>, <a class="el" href="../../da/d73/_first_order_i_i_r_filter_8h_source.html#l00052">FirstOrderIIRFilter&lt; T, T2 &gt;::get()</a>, and <a class="el" href="../../da/d73/_first_order_i_i_r_filter_8h_source.html#l00044">FirstOrderIIRFilter&lt; T, T2 &gt;::update()</a>.</p>
<div class="fragment"><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;                             {</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> x0(1, 2, 3);</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <a class="code" href="../../dc/d6f/class_first_order_i_i_r_filter.html">FirstOrderIIRFilter&lt;Vec3&lt;double&gt;</a>, <span class="keywordtype">double</span>&gt; filt(0.2, x0);</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> update(5, 5, 5);</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  filt.update(update);</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> expected = x0 * 0.8 + 0.2 * update;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a>(expected, filt.get(), .0001));</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;}</div><div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="_math_utilities_8h_html_aa06ec79f1e3170ea41b58ffbf35b9fb6"><div class="ttname"><a href="../../de/dda/_math_utilities_8h.html#aa06ec79f1e3170ea41b58ffbf35b9fb6">almostEqual</a></div><div class="ttdeci">bool almostEqual(const Eigen::MatrixBase&lt; T &gt; &amp;a, const Eigen::MatrixBase&lt; T &gt; &amp;b, T2 tol)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/dda/_math_utilities_8h_source.html#l00023">MathUtilities.h:23</a></div></div>
<div class="ttc" id="class_first_order_i_i_r_filter_html"><div class="ttname"><a href="../../dc/d6f/class_first_order_i_i_r_filter.html">FirstOrderIIRFilter</a></div><div class="ttdef"><b>Definition:</b> <a href="../../da/d73/_first_order_i_i_r_filter_8h_source.html#l00018">FirstOrderIIRFilter.h:18</a></div></div>
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